三自由度圆柱坐标机械手大学学位论文

河北工程大学毕业设计

摘要

自上世纪工业革命以来，大型重工业已经成为了人类社会发展的不可缺少的一部风。自从美国诞生了世界上第一台机械人后，很多国家都争先研究机器人技术。因为机器人技术可以帮助甚至替代人类在重工业生产，特别是高污染，高强度，高温度等人类不适宜的工作环境下高效率的工作。

机械手作为机器人的重要组成部分，它种类繁多。动力方面，可以是电动的，也可以是液压差传动。主要由控制系统，执行系统，动力系统等系统组成，由伸缩臂，升降臂，机械抓手等部分，以PLC软件为操作，使机器手更加方便快捷的运用于人类的生产活动当中。

关键词：机械手 手臂 圆柱坐标 液压缸 PLC

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河北工程大学毕业设计

目录

第1章 绪论 ······················································5 1.1 机械手发展现状 ················································5 1.2机器手种类······················································5 1.3 机器手由哪些部分组成 ···········································5 1.4设计机器手目的··················································6 第2章 三自由度直角坐标机械手的整体设计方案·························7 2.1机械手的自由度和坐标形式的确定································7 2.2 机械手的手部结构的确定方法·································· 7 2.3 机械手的手臂结构的确定······································ 7 2.4机械手的驱动方案的确定·······································7 2.5机械手的控制方案的确定········································7 2.6机械手的参数确定··············································8 第3章 机械手底座··················································9 3.1设计参数·······················································9 3.2方案设计······················································10 3.3液压马达的选择················································10 3.4回转支撑的选择················································11 3.5齿轮的强度校核················································13 3.6底座的方案确定·················································13 第 4 章 机械手升降臂··············································15 4.1升降臂设计要求···············································15 4.1.1 设计要求··················································15 4.1.2 设计方案的选择·············································15 4.2液压缸的选择·················································15 4.3执行原件主要参数的确定········································16 4.4升降臂的设计与计算············································18 4.5升降臂滑台设计···············································19 4.6撞快与形成开关的设计·········································20 第5章机械手伸缩臂·················································22 5.1伸缩臂的设计··················································22

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河北工程大学毕业设计

5.1.1设计参数··················································22 5.1.2设计方案··················································23 5.2液压缸的选择·················································23 5.3导向杆的设计·················································23 5.4底板的设计···················································25 5.5伸缩臂的确定·················································27 第6章 机械手夹持器···············································29 6.1夹持器的方案选择·············································29 6.2手抓部分的设计驱动计算·······································31 6.3液压缸的选择·················································31 6.4 V抓型的设计·················································32 6.5连杆的设计···················································36 第7章 机械手液压控制系统··········································38 7.1设计内容及要求················································38 7.1.1设计内柔···················································39 7.1.2设计要求···················································39 7.2设计方案······················································41 7.3液压泵的选择及其参数确定······································41 7.3.1个执行系统的最大流量计算···································41 7.3.2确定液压泵功率·············································42 7.3.3液压泵原件选择·············································42 7.4压力影响······················································43 第8章 机械手控制系统·············································45 8.1设计内容······················································45 8.2主电路图······················································46 8.3 PLC控制······················································49 8.4 软件设计·····················································52 第9章 致谢·······················································56 第10章 参考文献··················································57

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河北工程大学毕业设计

第1章 概述

1.1机器手的发展

机器手在当今社会中已经扮演的重要的角色，它在我们的日常生活里都特别的重要，我国的机械手事业不断的发展，已在当今社会中占有了一定地位。随着中国的崛起，相信我国的机械手会越来越好，越来越发达。 1.2机器手的分类

图1-2 机器人结构形式

1.3机器手的组成

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河北工程大学毕业设计

机械手的设计可以帮助我提高，升华大学四年所学的相关知识。帮助我进一步了解机械领域的一些东西。同时也使我明白工作的不容易，我们应该在工作当中更加细心，才能减少错误。

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